/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
/*
This broad phase uses the Sweep and Prune algorithm in:
Collision Detection in Interactive 3D Environments by Gino van den Bergen
Also, some ideas, such integral values for fast compares comes from
Bullet (http:/www.bulletphysics.com).
*/
// Notes:
// - we use bound arrays instead of linked lists for cache coherence.
// - we use quantized integral values for fast compares.
// - we use short indices rather than pointers to save memory.
// - we use a stabbing count for fast overlap queries (less than order N).
// - we also use a time stamp on each proxy to speed up the registration of
//   overlap query results.
// - where possible, we compare bound indices instead of values to reduce
//   cache misses (TODO_ERIN).
// - no broadphase is perfect and neither is this one: it is not great for huge
//   worlds (use a multi-SAP instead), it is not great for large objects.
//var b2BroadPhase = Class.create();
//b2BroadPhase.prototype =
import b2Settings from './../common/b2Settings';
import b2PairManager from './../collision/b2PairManager';
import b2Vec2 from './../common/math/b2Vec2';
import b2Math from './../common/math/b2Math';
import b2Bound from './../collision/b2Bound';
import b2Proxy from './../collision/b2Proxy';
import b2Pair from './../collision/b2Pair';
import b2BoundValues from './../collision/b2BoundValues';
export default class b2BroadPhase {
    //public:
    constructor(worldAABB, callback) {
        //public:
        this.m_pairManager = new b2PairManager();
        this.m_proxyPool = new Array(b2Settings.b2_maxPairs);
        this.m_freeProxy = 0;
        this.m_bounds = new Array(2 * b2Settings.b2_maxProxies);
        this.m_queryResults = new Array(b2Settings.b2_maxProxies);
        this.m_queryResultCount = 0;
        this.m_worldAABB = null;
        this.m_quantizationFactor = new b2Vec2();
        this.m_proxyCount = 0;
        this.m_timeStamp = 0;
        // initialize instance variables for references
        this.m_pairManager = new b2PairManager();
        this.m_proxyPool = new Array(b2Settings.b2_maxPairs);
        this.m_bounds = new Array(2 * b2Settings.b2_maxProxies);
        this.m_queryResults = new Array(b2Settings.b2_maxProxies);
        this.m_quantizationFactor = new b2Vec2();
        //
        //b2Settings.b2Assert(worldAABB.IsValid());
        var i = 0;
        this.m_pairManager.Initialize(this, callback);
        this.m_worldAABB = worldAABB;
        this.m_proxyCount = 0;
        // query results
        for (i = 0; i < b2Settings.b2_maxProxies; i++) {
            this.m_queryResults[i] = 0;
        }
        // bounds array
        this.m_bounds = new Array(2);
        for (i = 0; i < 2; i++) {
            this.m_bounds[i] = new Array(2 * b2Settings.b2_maxProxies);
            for (var j = 0; j < 2 * b2Settings.b2_maxProxies; j++) {
                this.m_bounds[i][j] = new b2Bound();
            }
        }
        //var d = b2Math.SubtractVV(worldAABB.maxVertex, worldAABB.minVertex);
        var dX = worldAABB.maxVertex.x;
        var dY = worldAABB.maxVertex.y;
        dX -= worldAABB.minVertex.x;
        dY -= worldAABB.minVertex.y;
        this.m_quantizationFactor.x = b2Settings.USHRT_MAX / dX;
        this.m_quantizationFactor.y = b2Settings.USHRT_MAX / dY;
        var tProxy;
        for (i = 0; i < b2Settings.b2_maxProxies - 1; ++i) {
            tProxy = new b2Proxy();
            this.m_proxyPool[i] = tProxy;
            tProxy.SetNext(i + 1);
            tProxy.timeStamp = 0;
            tProxy.overlapCount = b2BroadPhase.b2_invalid;
            tProxy.userData = null;
        }
        tProxy = new b2Proxy();
        this.m_proxyPool[b2Settings.b2_maxProxies - 1] = tProxy;
        tProxy.SetNext(b2Pair.b2_nullProxy);
        tProxy.timeStamp = 0;
        tProxy.overlapCount = b2BroadPhase.b2_invalid;
        tProxy.userData = null;
        this.m_freeProxy = 0;
        this.m_timeStamp = 1;
        this.m_queryResultCount = 0;
    }
    static BinarySearch(bounds, count, value) {
        var low = 0;
        var high = count - 1;
        while (low <= high) {
            var mid = Math.floor((low + high) / 2);
            if (bounds[mid].value > value) {
                high = mid - 1;
            }
            else if (bounds[mid].value < value) {
                low = mid + 1;
            }
            else {
                return /*uint*/ (mid);
            }
        }
        return /*uint*/ (low);
    }
    ;
    //~b2BroadPhase();
    // Use this to see if your proxy is in range. If it is not in range,
    // it should be destroyed. Otherwise you may get O(m^2) pairs, where m
    // is the number of proxies that are out of range.
    InRange(aabb) {
        //var d = b2Math.b2MaxV(b2Math.SubtractVV(aabb.minVertex, this.m_worldAABB.maxVertex), b2Math.SubtractVV(this.m_worldAABB.minVertex, aabb.maxVertex));
        var dX;
        var dY;
        var d2X;
        var d2Y;
        dX = aabb.minVertex.x;
        dY = aabb.minVertex.y;
        dX -= this.m_worldAABB.maxVertex.x;
        dY -= this.m_worldAABB.maxVertex.y;
        d2X = this.m_worldAABB.minVertex.x;
        d2Y = this.m_worldAABB.minVertex.y;
        d2X -= aabb.maxVertex.x;
        d2Y -= aabb.maxVertex.y;
        dX = b2Math.b2Max(dX, d2X);
        dY = b2Math.b2Max(dY, d2Y);
        return b2Math.b2Max(dX, dY) < 0.0;
    }
    // Get a single proxy. Returns NULL if the id is invalid.
    GetProxy(proxyId) {
        if (proxyId == b2Pair.b2_nullProxy || this.m_proxyPool[proxyId].IsValid() == false) {
            return null;
        }
        return this.m_proxyPool[proxyId];
    }
    // Create and destroy proxies. These call Flush first.
    CreateProxy(aabb, userData) {
        var index = 0;
        var proxy;
        //b2Settings.b2Assert(this.m_proxyCount < b2_maxProxies);
        //b2Settings.b2Assert(this.m_freeProxy != b2Pair.b2_nullProxy);
        var proxyId = this.m_freeProxy;
        proxy = this.m_proxyPool[proxyId];
        this.m_freeProxy = proxy.GetNext();
        proxy.overlapCount = 0;
        proxy.userData = userData;
        var boundCount = 2 * this.m_proxyCount;
        var lowerValues = new Array();
        var upperValues = new Array();
        this.ComputeBounds(lowerValues, upperValues, aabb);
        for (var axis = 0; axis < 2; ++axis) {
            var bounds = this.m_bounds[axis];
            var lowerIndex = 0;
            var upperIndex = 0;
            var lowerIndexOut = [lowerIndex];
            var upperIndexOut = [upperIndex];
            this.Query(lowerIndexOut, upperIndexOut, lowerValues[axis], upperValues[axis], bounds, boundCount, axis);
            lowerIndex = lowerIndexOut[0];
            upperIndex = upperIndexOut[0];
            // Replace memmove calls
            //memmove(bounds + upperIndex + 2, bounds + upperIndex, (edgeCount - upperIndex) * sizeof(b2Bound));
            var tArr = new Array();
            var j = 0;
            var tEnd = boundCount - upperIndex;
            var tBound1;
            var tBound2;
            // make temp array
            for (j = 0; j < tEnd; j++) {
                tArr[j] = new b2Bound();
                tBound1 = tArr[j];
                tBound2 = bounds[upperIndex + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            // move temp array back in to bounds
            tEnd = tArr.length;
            var tIndex = upperIndex + 2;
            for (j = 0; j < tEnd; j++) {
                //bounds[tIndex+j] = tArr[j];
                tBound2 = tArr[j];
                tBound1 = bounds[tIndex + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            //memmove(bounds + lowerIndex + 1, bounds + lowerIndex, (upperIndex - lowerIndex) * sizeof(b2Bound));
            // make temp array
            tArr = new Array();
            tEnd = upperIndex - lowerIndex;
            for (j = 0; j < tEnd; j++) {
                tArr[j] = new b2Bound();
                tBound1 = tArr[j];
                tBound2 = bounds[lowerIndex + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            // move temp array back in to bounds
            tEnd = tArr.length;
            tIndex = lowerIndex + 1;
            for (j = 0; j < tEnd; j++) {
                //bounds[tIndex+j] = tArr[j];
                tBound2 = tArr[j];
                tBound1 = bounds[tIndex + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            // The upper index has increased because of the lower bound insertion.
            ++upperIndex;
            // Copy in the new bounds.
            bounds[lowerIndex].value = lowerValues[axis];
            bounds[lowerIndex].proxyId = proxyId;
            bounds[upperIndex].value = upperValues[axis];
            bounds[upperIndex].proxyId = proxyId;
            bounds[lowerIndex].stabbingCount = lowerIndex == 0 ? 0 : bounds[lowerIndex - 1].stabbingCount;
            bounds[upperIndex].stabbingCount = bounds[upperIndex - 1].stabbingCount;
            // Adjust the stabbing count between the new bounds.
            for (index = lowerIndex; index < upperIndex; ++index) {
                bounds[index].stabbingCount++;
            }
            // Adjust the all the affected bound indices.
            for (index = lowerIndex; index < boundCount + 2; ++index) {
                var proxy2 = this.m_proxyPool[bounds[index].proxyId];
                if (bounds[index].IsLower()) {
                    proxy2.lowerBounds[axis] = index;
                }
                else {
                    proxy2.upperBounds[axis] = index;
                }
            }
        }
        ++this.m_proxyCount;
        //b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
        for (var i = 0; i < this.m_queryResultCount; ++i) {
            //b2Settings.b2Assert(this.m_queryResults[i] < b2_maxProxies);
            //b2Settings.b2Assert(this.m_proxyPool[this.m_queryResults[i]].IsValid());
            this.m_pairManager.AddBufferedPair(proxyId, this.m_queryResults[i]);
        }
        this.m_pairManager.Commit();
        // Prepare for next query.
        this.m_queryResultCount = 0;
        this.IncrementTimeStamp();
        return proxyId;
    }
    DestroyProxy(proxyId) {
        //b2Settings.b2Assert(0 < this.m_proxyCount && this.m_proxyCount <= b2_maxProxies);
        var proxy = this.m_proxyPool[proxyId];
        //b2Settings.b2Assert(proxy.IsValid());
        var boundCount = 2 * this.m_proxyCount;
        for (var axis = 0; axis < 2; ++axis) {
            var bounds = this.m_bounds[axis];
            var lowerIndex = proxy.lowerBounds[axis];
            var upperIndex = proxy.upperBounds[axis];
            var lowerValue = bounds[lowerIndex].value;
            var upperValue = bounds[upperIndex].value;
            // replace memmove calls
            //memmove(bounds + lowerIndex, bounds + lowerIndex + 1, (upperIndex - lowerIndex - 1) * sizeof(b2Bound));
            var tArr = new Array();
            var j = 0;
            var tEnd = upperIndex - lowerIndex - 1;
            var tBound1;
            var tBound2;
            // make temp array
            for (j = 0; j < tEnd; j++) {
                tArr[j] = new b2Bound();
                tBound1 = tArr[j];
                tBound2 = bounds[lowerIndex + 1 + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            // move temp array back in to bounds
            tEnd = tArr.length;
            var tIndex = lowerIndex;
            for (j = 0; j < tEnd; j++) {
                //bounds[tIndex+j] = tArr[j];
                tBound2 = tArr[j];
                tBound1 = bounds[tIndex + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            //memmove(bounds + upperIndex-1, bounds + upperIndex + 1, (edgeCount - upperIndex - 1) * sizeof(b2Bound));
            // make temp array
            tArr = new Array();
            tEnd = boundCount - upperIndex - 1;
            for (j = 0; j < tEnd; j++) {
                tArr[j] = new b2Bound();
                tBound1 = tArr[j];
                tBound2 = bounds[upperIndex + 1 + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            // move temp array back in to bounds
            tEnd = tArr.length;
            tIndex = upperIndex - 1;
            for (j = 0; j < tEnd; j++) {
                //bounds[tIndex+j] = tArr[j];
                tBound2 = tArr[j];
                tBound1 = bounds[tIndex + j];
                tBound1.value = tBound2.value;
                tBound1.proxyId = tBound2.proxyId;
                tBound1.stabbingCount = tBound2.stabbingCount;
            }
            // Fix bound indices.
            tEnd = boundCount - 2;
            for (var index = lowerIndex; index < tEnd; ++index) {
                var proxy2 = this.m_proxyPool[bounds[index].proxyId];
                if (bounds[index].IsLower()) {
                    proxy2.lowerBounds[axis] = index;
                }
                else {
                    proxy2.upperBounds[axis] = index;
                }
            }
            // Fix stabbing count.
            tEnd = upperIndex - 1;
            for (var index2 = lowerIndex; index2 < tEnd; ++index2) {
                bounds[index2].stabbingCount--;
            }
            // this.Query for pairs to be removed. lowerIndex and upperIndex are not needed.
            // make lowerIndex and upper output using an array and do this for others if compiler doesn't pick them up
            this.Query([0], [0], lowerValue, upperValue, bounds, boundCount - 2, axis);
        }
        //b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
        for (var i = 0; i < this.m_queryResultCount; ++i) {
            //b2Settings.b2Assert(this.m_proxyPool[this.m_queryResults[i]].IsValid());
            this.m_pairManager.RemoveBufferedPair(proxyId, this.m_queryResults[i]);
        }
        this.m_pairManager.Commit();
        // Prepare for next query.
        this.m_queryResultCount = 0;
        this.IncrementTimeStamp();
        // Return the proxy to the pool.
        proxy.userData = null;
        proxy.overlapCount = b2BroadPhase.b2_invalid;
        proxy.lowerBounds[0] = b2BroadPhase.b2_invalid;
        proxy.lowerBounds[1] = b2BroadPhase.b2_invalid;
        proxy.upperBounds[0] = b2BroadPhase.b2_invalid;
        proxy.upperBounds[1] = b2BroadPhase.b2_invalid;
        proxy.SetNext(this.m_freeProxy);
        this.m_freeProxy = proxyId;
        --this.m_proxyCount;
    }
    // Call this.MoveProxy times like, then when you are done
    // call this.Commit to finalized the proxy pairs (for your time step).
    MoveProxy(proxyId, aabb) {
        var axis = 0;
        var index = 0;
        var bound;
        var prevBound;
        var nextBound;
        var nextProxyId = 0;
        var nextProxy;
        if (proxyId == b2Pair.b2_nullProxy || b2Settings.b2_maxProxies <= proxyId) {
            //b2Settings.b2Assert(false);
            return;
        }
        if (aabb.IsValid() == false) {
            //b2Settings.b2Assert(false);
            return;
        }
        var boundCount = 2 * this.m_proxyCount;
        var proxy = this.m_proxyPool[proxyId];
        // Get new bound values
        var newValues = new b2BoundValues();
        this.ComputeBounds(newValues.lowerValues, newValues.upperValues, aabb);
        // Get old bound values
        var oldValues = new b2BoundValues();
        for (axis = 0; axis < 2; ++axis) {
            oldValues.lowerValues[axis] = this.m_bounds[axis][proxy.lowerBounds[axis]].value;
            oldValues.upperValues[axis] = this.m_bounds[axis][proxy.upperBounds[axis]].value;
        }
        for (axis = 0; axis < 2; ++axis) {
            var bounds = this.m_bounds[axis];
            var lowerIndex = proxy.lowerBounds[axis];
            var upperIndex = proxy.upperBounds[axis];
            var lowerValue = newValues.lowerValues[axis];
            var upperValue = newValues.upperValues[axis];
            var deltaLower = lowerValue - bounds[lowerIndex].value;
            var deltaUpper = upperValue - bounds[upperIndex].value;
            bounds[lowerIndex].value = lowerValue;
            bounds[upperIndex].value = upperValue;
            //
            // Expanding adds overlaps
            //
            // Should we move the lower bound down?
            if (deltaLower < 0) {
                index = lowerIndex;
                while (index > 0 && lowerValue < bounds[index - 1].value) {
                    bound = bounds[index];
                    prevBound = bounds[index - 1];
                    var prevProxyId = prevBound.proxyId;
                    var prevProxy = this.m_proxyPool[prevBound.proxyId];
                    prevBound.stabbingCount++;
                    if (prevBound.IsUpper() == true) {
                        if (this.TestOverlap(newValues, prevProxy)) {
                            this.m_pairManager.AddBufferedPair(proxyId, prevProxyId);
                        }
                        prevProxy.upperBounds[axis]++;
                        bound.stabbingCount++;
                    }
                    else {
                        prevProxy.lowerBounds[axis]++;
                        bound.stabbingCount--;
                    }
                    proxy.lowerBounds[axis]--;
                    // swap
                    //var temp = bound;
                    //bound = prevEdge;
                    //prevEdge = temp;
                    bound.Swap(prevBound);
                    //b2Math.b2Swap(bound, prevEdge);
                    --index;
                }
            }
            // Should we move the upper bound up?
            if (deltaUpper > 0) {
                index = upperIndex;
                while (index < boundCount - 1 && bounds[index + 1].value <= upperValue) {
                    bound = bounds[index];
                    nextBound = bounds[index + 1];
                    nextProxyId = nextBound.proxyId;
                    nextProxy = this.m_proxyPool[nextProxyId];
                    nextBound.stabbingCount++;
                    if (nextBound.IsLower() == true) {
                        if (this.TestOverlap(newValues, nextProxy)) {
                            this.m_pairManager.AddBufferedPair(proxyId, nextProxyId);
                        }
                        nextProxy.lowerBounds[axis]--;
                        bound.stabbingCount++;
                    }
                    else {
                        nextProxy.upperBounds[axis]--;
                        bound.stabbingCount--;
                    }
                    proxy.upperBounds[axis]++;
                    // swap
                    //var temp = bound;
                    //bound = nextEdge;
                    //nextEdge = temp;
                    bound.Swap(nextBound);
                    //b2Math.b2Swap(bound, nextEdge);
                    index++;
                }
            }
            //
            // Shrinking removes overlaps
            //
            // Should we move the lower bound up?
            if (deltaLower > 0) {
                index = lowerIndex;
                while (index < boundCount - 1 && bounds[index + 1].value <= lowerValue) {
                    bound = bounds[index];
                    nextBound = bounds[index + 1];
                    nextProxyId = nextBound.proxyId;
                    nextProxy = this.m_proxyPool[nextProxyId];
                    nextBound.stabbingCount--;
                    if (nextBound.IsUpper()) {
                        if (this.TestOverlap(oldValues, nextProxy)) {
                            this.m_pairManager.RemoveBufferedPair(proxyId, nextProxyId);
                        }
                        nextProxy.upperBounds[axis]--;
                        bound.stabbingCount--;
                    }
                    else {
                        nextProxy.lowerBounds[axis]--;
                        bound.stabbingCount++;
                    }
                    proxy.lowerBounds[axis]++;
                    // swap
                    //var temp = bound;
                    //bound = nextEdge;
                    //nextEdge = temp;
                    bound.Swap(nextBound);
                    //b2Math.b2Swap(bound, nextEdge);
                    index++;
                }
            }
            // Should we move the upper bound down?
            if (deltaUpper < 0) {
                index = upperIndex;
                while (index > 0 && upperValue < bounds[index - 1].value) {
                    bound = bounds[index];
                    prevBound = bounds[index - 1];
                    prevProxyId = prevBound.proxyId;
                    prevProxy = this.m_proxyPool[prevProxyId];
                    prevBound.stabbingCount--;
                    if (prevBound.IsLower() == true) {
                        if (this.TestOverlap(oldValues, prevProxy)) {
                            this.m_pairManager.RemoveBufferedPair(proxyId, prevProxyId);
                        }
                        prevProxy.lowerBounds[axis]++;
                        bound.stabbingCount--;
                    }
                    else {
                        prevProxy.upperBounds[axis]++;
                        bound.stabbingCount++;
                    }
                    proxy.upperBounds[axis]--;
                    // swap
                    //var temp = bound;
                    //bound = prevEdge;
                    //prevEdge = temp;
                    bound.Swap(prevBound);
                    //b2Math.b2Swap(bound, prevEdge);
                    index--;
                }
            }
        }
    }
    Commit() {
        this.m_pairManager.Commit();
    }
    // this.Query an AABB for overlapping proxies, returns the user data and
    // the count, up to the supplied maximum count.
    QueryAABB(aabb, userData, maxCount) {
        var lowerValues = new Array();
        var upperValues = new Array();
        this.ComputeBounds(lowerValues, upperValues, aabb);
        var lowerIndex = 0;
        var upperIndex = 0;
        var lowerIndexOut = [lowerIndex];
        var upperIndexOut = [upperIndex];
        this.Query(lowerIndexOut, upperIndexOut, lowerValues[0], upperValues[0], this.m_bounds[0], 2 * this.m_proxyCount, 0);
        this.Query(lowerIndexOut, upperIndexOut, lowerValues[1], upperValues[1], this.m_bounds[1], 2 * this.m_proxyCount, 1);
        //b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
        var count = 0;
        for (var i = 0; i < this.m_queryResultCount && count < maxCount; ++i, ++count) {
            //b2Settings.b2Assert(this.m_queryResults[i] < b2Settings.b2_maxProxies);
            var proxy = this.m_proxyPool[this.m_queryResults[i]];
            //b2Settings.b2Assert(proxy.IsValid());
            userData[i] = proxy.userData;
        }
        // Prepare for next query.
        this.m_queryResultCount = 0;
        this.IncrementTimeStamp();
        return count;
    }
    Validate() {
        var pair;
        var proxy1;
        var proxy2;
        var overlap;
        for (var axis = 0; axis < 2; ++axis) {
            var bounds = this.m_bounds[axis];
            var boundCount = 2 * this.m_proxyCount;
            var stabbingCount = 0;
            for (var i = 0; i < boundCount; ++i) {
                var bound = bounds[i];
                //b2Settings.b2Assert(i == 0 || bounds[i-1].value <= bound->value);
                //b2Settings.b2Assert(bound->proxyId != b2_nullProxy);
                //b2Settings.b2Assert(this.m_proxyPool[bound->proxyId].IsValid());
                if (bound.IsLower() == true) {
                    //b2Settings.b2Assert(this.m_proxyPool[bound.proxyId].lowerBounds[axis] == i);
                    stabbingCount++;
                }
                else {
                    //b2Settings.b2Assert(this.m_proxyPool[bound.proxyId].upperBounds[axis] == i);
                    stabbingCount--;
                }
                //b2Settings.b2Assert(bound.stabbingCount == stabbingCount);
            }
        }
    }
    //private:
    ComputeBounds(lowerValues, upperValues, aabb) {
        //b2Settings.b2Assert(aabb.maxVertex.x > aabb.minVertex.x);
        //b2Settings.b2Assert(aabb.maxVertex.y > aabb.minVertex.y);
        //var minVertex = b2Math.b2ClampV(aabb.minVertex, this.m_worldAABB.minVertex, this.m_worldAABB.maxVertex);
        var minVertexX = aabb.minVertex.x;
        var minVertexY = aabb.minVertex.y;
        minVertexX = b2Math.b2Min(minVertexX, this.m_worldAABB.maxVertex.x);
        minVertexY = b2Math.b2Min(minVertexY, this.m_worldAABB.maxVertex.y);
        minVertexX = b2Math.b2Max(minVertexX, this.m_worldAABB.minVertex.x);
        minVertexY = b2Math.b2Max(minVertexY, this.m_worldAABB.minVertex.y);
        //var maxVertex = b2Math.b2ClampV(aabb.maxVertex, this.m_worldAABB.minVertex, this.m_worldAABB.maxVertex);
        var maxVertexX = aabb.maxVertex.x;
        var maxVertexY = aabb.maxVertex.y;
        maxVertexX = b2Math.b2Min(maxVertexX, this.m_worldAABB.maxVertex.x);
        maxVertexY = b2Math.b2Min(maxVertexY, this.m_worldAABB.maxVertex.y);
        maxVertexX = b2Math.b2Max(maxVertexX, this.m_worldAABB.minVertex.x);
        maxVertexY = b2Math.b2Max(maxVertexY, this.m_worldAABB.minVertex.y);
        // Bump lower bounds downs and upper bounds up. This ensures correct sorting of
        // lower/upper bounds that would have equal values.
        // TODO_ERIN implement fast float to uint16 conversion.
        lowerValues[0] = /*uint*/ (this.m_quantizationFactor.x * (minVertexX - this.m_worldAABB.minVertex.x)) & (b2Settings.USHRT_MAX - 1);
        upperValues[0] = ( /*uint*/(this.m_quantizationFactor.x * (maxVertexX - this.m_worldAABB.minVertex.x)) & 0x0000ffff) | 1;
        lowerValues[1] = /*uint*/ (this.m_quantizationFactor.y * (minVertexY - this.m_worldAABB.minVertex.y)) & (b2Settings.USHRT_MAX - 1);
        upperValues[1] = ( /*uint*/(this.m_quantizationFactor.y * (maxVertexY - this.m_worldAABB.minVertex.y)) & 0x0000ffff) | 1;
    }
    // This one is only used for validation.
    TestOverlapValidate(p1, p2) {
        for (var axis = 0; axis < 2; ++axis) {
            var bounds = this.m_bounds[axis];
            //b2Settings.b2Assert(p1.lowerBounds[axis] < 2 * this.m_proxyCount);
            //b2Settings.b2Assert(p1.upperBounds[axis] < 2 * this.m_proxyCount);
            //b2Settings.b2Assert(p2.lowerBounds[axis] < 2 * this.m_proxyCount);
            //b2Settings.b2Assert(p2.upperBounds[axis] < 2 * this.m_proxyCount);
            if (bounds[p1.lowerBounds[axis]].value > bounds[p2.upperBounds[axis]].value)
                return false;
            if (bounds[p1.upperBounds[axis]].value < bounds[p2.lowerBounds[axis]].value)
                return false;
        }
        return true;
    }
    TestOverlap(b, p) {
        for (var axis = 0; axis < 2; ++axis) {
            var bounds = this.m_bounds[axis];
            //b2Settings.b2Assert(p.lowerBounds[axis] < 2 * this.m_proxyCount);
            //b2Settings.b2Assert(p.upperBounds[axis] < 2 * this.m_proxyCount);
            if (b.lowerValues[axis] > bounds[p.upperBounds[axis]].value)
                return false;
            if (b.upperValues[axis] < bounds[p.lowerBounds[axis]].value)
                return false;
        }
        return true;
    }
    Query(lowerQueryOut, upperQueryOut, lowerValue, upperValue, bounds, boundCount, axis) {
        var lowerQuery = b2BroadPhase.BinarySearch(bounds, boundCount, lowerValue);
        var upperQuery = b2BroadPhase.BinarySearch(bounds, boundCount, upperValue);
        // Easy case: lowerQuery <= lowerIndex(i) < upperQuery
        // Solution: search query range for min bounds.
        for (var j = lowerQuery; j < upperQuery; ++j) {
            if (bounds[j].IsLower()) {
                this.IncrementOverlapCount(bounds[j].proxyId);
            }
        }
        // Hard case: lowerIndex(i) < lowerQuery < upperIndex(i)
        // Solution: use the stabbing count to search down the bound array.
        if (lowerQuery > 0) {
            var i = lowerQuery - 1;
            var s = bounds[i].stabbingCount;
            // Find the s overlaps.
            while (s) {
                //b2Settings.b2Assert(i >= 0);
                if (bounds[i].IsLower()) {
                    var proxy = this.m_proxyPool[bounds[i].proxyId];
                    if (lowerQuery <= proxy.upperBounds[axis]) {
                        this.IncrementOverlapCount(bounds[i].proxyId);
                        --s;
                    }
                }
                --i;
            }
        }
        lowerQueryOut[0] = lowerQuery;
        upperQueryOut[0] = upperQuery;
    }
    IncrementOverlapCount(proxyId) {
        var proxy = this.m_proxyPool[proxyId];
        if (proxy.timeStamp < this.m_timeStamp) {
            proxy.timeStamp = this.m_timeStamp;
            proxy.overlapCount = 1;
        }
        else {
            proxy.overlapCount = 2;
            //b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
            this.m_queryResults[this.m_queryResultCount] = proxyId;
            ++this.m_queryResultCount;
        }
    }
    IncrementTimeStamp() {
        if (this.m_timeStamp == b2Settings.USHRT_MAX) {
            for (var i = 0; i < b2Settings.b2_maxProxies; ++i) {
                this.m_proxyPool[i].timeStamp = 0;
            }
            this.m_timeStamp = 1;
        }
        else {
            ++this.m_timeStamp;
        }
    }
}
b2BroadPhase.kk = 0;
b2BroadPhase.s_validate = false;
b2BroadPhase.b2_invalid = b2Settings.USHRT_MAX;
b2BroadPhase.b2_nullEdge = b2Settings.USHRT_MAX;
;
